Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
ddbe67f
·
verified ·
1 Parent(s): 6c7a018

Add asset bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/affordance_annot.json +310 -0
  3. dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/flashlight_030.urdf +1 -0
.gitattributes CHANGED
@@ -5900,3 +5900,4 @@ dataset/bedroom_supplies/small_electronics/206a091aaa2c55c2873ec5a42e9f909a/affo
5900
  dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5901
  dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5902
  dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5900
  dataset/bedroom_supplies/small_electronics/22ad3d02d94d55068b2735d393282acc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5901
  dataset/bedroom_supplies/small_electronics/2b922f7af3565e32b0c6ec1843186d7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5902
  dataset/bedroom_supplies/small_electronics/3024cb48f0e45284b98882c871329faf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5903
+ dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/affordance_annot.json ADDED
@@ -0,0 +1,310 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "flashlight body",
5
+ "mask_color": "Yellow",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and carry the flashlight",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the body to aim the beam during use",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the body while pressing the side switch",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "house internal components",
24
+ "support aiming and carrying",
25
+ "provide hand traction",
26
+ "mount the light head and tail"
27
+ ],
28
+ "semantic_description": "Elongated gray flashlight body made of hard plastic or coated metal, with a mostly matte finish, textured knurled grip panels, ribbed black head section, yellow accent rings, and printed white markings along the side.",
29
+ "id": 3,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9866503477096558,
33
+ "position": [
34
+ -0.007770556956529617,
35
+ -0.0500575351761654,
36
+ -0.08424297539750114
37
+ ],
38
+ "orientation": {
39
+ "w": 0.6763684499156484,
40
+ "xyz": [
41
+ -0.1876581009169801,
42
+ -0.18459716368914691,
43
+ -0.6879200856762782
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9863343834877014,
49
+ "position": [
50
+ 0.002436324954032898,
51
+ -0.09730782837141305,
52
+ 0.015486466640140861
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5065731940112009,
56
+ "xyz": [
57
+ -0.4976161568844185,
58
+ -0.5663807498454448,
59
+ -0.41829966019754805
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9858040809631348,
65
+ "position": [
66
+ 0.003781207837164402,
67
+ -0.04070958599913865,
68
+ -0.09038431016961113
69
+ ],
70
+ "orientation": {
71
+ "w": 0.6794812440161108,
72
+ "xyz": [
73
+ -0.14419707799094933,
74
+ -0.13992545101153786,
75
+ -0.7056438973649591
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9857090711593628,
81
+ "position": [
82
+ 0.013806888833642006,
83
+ 0.037773082847706974,
84
+ 0.09036213340004906
85
+ ],
86
+ "orientation": {
87
+ "w": 0.13871187645990357,
88
+ "xyz": [
89
+ 0.6694930947377017,
90
+ 0.7181505358093689,
91
+ -0.12960640163287745
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9851657748222351,
97
+ "position": [
98
+ 0.028800249099731445,
99
+ 0.03844822465907782,
100
+ 0.08517755003413185
101
+ ],
102
+ "orientation": {
103
+ "w": 0.2781821863455397,
104
+ "xyz": [
105
+ 0.6284673703599796,
106
+ -0.7249539184747059,
107
+ 0.04566455606920324
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9849209189414978,
113
+ "position": [
114
+ 0.004346040077507496,
115
+ -0.012799504329450428,
116
+ -0.09432798443594947
117
+ ],
118
+ "orientation": {
119
+ "w": 0.7038742242604091,
120
+ "xyz": [
121
+ -0.07035109473495171,
122
+ 0.022227852656466207,
123
+ 0.7064826412996178
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9847049713134766,
129
+ "position": [
130
+ -0.0027613393031060696,
131
+ -0.0713273111032322,
132
+ -0.0678682085708715
133
+ ],
134
+ "orientation": {
135
+ "w": 0.6559842707067897,
136
+ "xyz": [
137
+ -0.27712222945264614,
138
+ -0.27321929324497707,
139
+ -0.6467140978262277
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9842469692230225,
145
+ "position": [
146
+ 0.018487321212887764,
147
+ 0.04661355062853545,
148
+ 0.08293175877770409
149
+ ],
150
+ "orientation": {
151
+ "w": 0.28343097382399485,
152
+ "xyz": [
153
+ 0.658951242580123,
154
+ -0.6908359043102005,
155
+ 0.09053118962656315
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9842340350151062,
161
+ "position": [
162
+ 0.023540571331977844,
163
+ 0.035926497424952686,
164
+ 0.09006617398699746
165
+ ],
166
+ "orientation": {
167
+ "w": 0.17628904515543997,
168
+ "xyz": [
169
+ 0.6790476142689407,
170
+ -0.7041110991220508,
171
+ 0.10974547920976511
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9840111136436462,
177
+ "position": [
178
+ 0.0012245094403624535,
179
+ 0.012988178874365985,
180
+ -0.09683369664708152
181
+ ],
182
+ "orientation": {
183
+ "w": 0.7025467053803882,
184
+ "xyz": [
185
+ 0.03891093142424768,
186
+ 0.050648693647473264,
187
+ -0.7087656707309292
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9838860034942627,
193
+ "position": [
194
+ 0.022343449294567108,
195
+ 0.0920715284300968,
196
+ 0.03844831319293007
197
+ ],
198
+ "orientation": {
199
+ "w": 0.3924579880280972,
200
+ "xyz": [
201
+ 0.5887812880525273,
202
+ -0.5791853892448724,
203
+ 0.40479328966450373
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9838309288024902,
209
+ "position": [
210
+ -0.0039923060685396194,
211
+ -0.0986177969025448,
212
+ 0.0033929896890185773
213
+ ],
214
+ "orientation": {
215
+ "w": 0.5048702896391427,
216
+ "xyz": [
217
+ -0.5117086158125048,
218
+ -0.5063730945068223,
219
+ -0.4762841298033383
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9835655093193054,
225
+ "position": [
226
+ 0.03008640557527542,
227
+ 0.05920924141537398,
228
+ 0.07115081878146157
229
+ ],
230
+ "orientation": {
231
+ "w": 0.36239260402218537,
232
+ "xyz": [
233
+ 0.6121065485301954,
234
+ -0.6908160913366895,
235
+ 0.12950019979432134
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9834354519844055,
241
+ "position": [
242
+ 0.01570526883006096,
243
+ 0.03167638450395316,
244
+ 0.08788460673531517
245
+ ],
246
+ "orientation": {
247
+ "w": 0.14376180660444607,
248
+ "xyz": [
249
+ 0.6952919221115914,
250
+ 0.6975666917171888,
251
+ -0.09644893267906927
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9833294153213501,
257
+ "position": [
258
+ 0.009708518162369728,
259
+ 0.03769214346539229,
260
+ 0.08648075343808159
261
+ ],
262
+ "orientation": {
263
+ "w": 0.14089993822630095,
264
+ "xyz": [
265
+ 0.6915878304950341,
266
+ 0.6928658101889099,
267
+ -0.14761588393618727
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9833006858825684,
273
+ "position": [
274
+ 0.0016502635553479195,
275
+ 0.04549481242429465,
276
+ 0.08643099846085533
277
+ ],
278
+ "orientation": {
279
+ "w": 0.16196434739906673,
280
+ "xyz": [
281
+ 0.6580925538806175,
282
+ 0.7154896942627619,
283
+ -0.1695766437404038
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9832496047019958,
289
+ "position": [
290
+ -0.01467482466250658,
291
+ -0.035490733687765896,
292
+ -0.09027122525731102
293
+ ],
294
+ "orientation": {
295
+ "w": 0.6944071311019536,
296
+ "xyz": [
297
+ -0.10513994557279133,
298
+ -0.15677389196116165,
299
+ -0.6943819373508038
300
+ ]
301
+ }
302
+ }
303
+ }
304
+ }
305
+ ],
306
+ "quality_check": {
307
+ "success": true,
308
+ "message": "YES"
309
+ }
310
+ }
dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5862fc21bfb5a56b3f68bbb8ce34ce17e1c3418ce2a36692c78b9941b91cf931
3
+ size 3777012
dataset/bedroom_supplies/small_electronics/31caf656d91159a5b1bbb78ad55ed1f2/flashlight_030.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>